Related papers: Improving Visual Place Recognition Based Robot Nav…
Collision avoidance and platooning applications require vehicle localization at cm-level accuracy and at least 50 Hz rate for full autonomy. The RADAR/LIDAR and camera based methods currently used for vehicle localization do not satisfy…
The detection of multiple curved lane markings on a non-flat road surface is still a challenging task for automotive applications. To make an improvement, the depth information can be used to greatly enhance the robustness of the lane…
We consider the problem of navigating a mobile robot towards a target in an unknown environment that is endowed with visual sensors, where neither the robot nor the sensors have access to global positioning information and only use…
Recent advances in Multimodal Large Language Models (MLLMs) have significantly improved performance on tasks such as visual grounding and visual question answering. However, the reasoning processes of these models remain largely opaque;…
Relative Pose Regression (RPR) generalizes well to unseen environments, but its performance is often limited due to pairwise and local spatial views. To this end, we propose MultiLoc, a novel multi-view guided RPR model trained at scale,…
Existing Vision-Language Navigation (VLN) agents based on Large Vision-Language Models (LVLMs) often suffer from perception errors, reasoning errors, and planning errors, which significantly hinder their navigation performance. To address…
The growing demand for location-based services in areas like virtual reality, robot control, and navigation has intensified the focus on indoor localization. Visible light positioning (VLP), leveraging visible light communications (VLC),…
Visual-based recognition, e.g., image classification, object detection, etc., is a long-standing challenge in computer vision and robotics communities. Concerning the roboticists, since the knowledge of the environment is a prerequisite for…
Autonomously controlling the position of Remotely Operated underwater Vehicles (ROVs) is of crucial importance for a wide range of underwater engineering applications, such as in the inspection and maintenance of underwater industrial…
Visual Place Recognition (VPR) has been traditionally formulated as a single-image retrieval task. Using multiple views offers clear advantages, yet this setting remains relatively underexplored and existing methods often struggle to…
Visual place recognition (VPR) using deep networks has achieved state-of-the-art performance. However, most of them require a training set with ground truth sensor poses to obtain positive and negative samples of each observation's spatial…
Navigation and trajectorial estimation of maritime vessels are contingent upon the context of positional accuracy. Even the smallest deviations in the estimation of a given vessel may result in detrimental consequences in terms of economic…
Camera-based visible light positioning (VLP) has emerged as a promising indoor positioning technique. However, the need for dedicated luminaire infrastructure and on-target cameras in existing algorithms may limit their scalability and…
Camera-based visible light positioning (VLP) is a promising technique for accurate and low-cost indoor camera pose estimation (CPE). To reduce the number of required light-emitting diodes (LEDs), advanced methods commonly exploit LED shape…
This paper presents a lightweight visual place recognition approach, capable of achieving high performance with low computational cost, and feasible for mobile robotics under significant viewpoint and appearance changes. Results on several…
Vehicle tracking is an integral part of intelligent traffic management systems. Previous implementations of vehicle tracking used Global Positioning System(GPS) based systems that gave location of the vehicle of an individual on their…
Training end-to-end policies from image data to directly predict navigation actions for robotic systems has proven inherently difficult. Existing approaches often suffer from either the sim-to-real gap during policy transfer or a limited…
Place recognition is an important task within autonomous navigation, involving the re-identification of previously visited locations from an initial traverse. Unlike visual place recognition (VPR), LiDAR place recognition (LPR) is tolerant…
We propose an automatic method for pose and motion estimation against a ground surface for a ground-moving robot-mounted monocular camera. The framework adopts a semi-dense approach that benefits from both a feature-based method and an…
Precise initialization plays a critical role in the performance of localization algorithms, especially in the context of robotics, autonomous driving, and computer vision. Poor localization accuracy is often a consequence of inaccurate…